Control devices



Jan. 23, 1962 LYNN 3,017,778

CONTROL DEVICES Filed March a, 1946 3 Sheets-Sheet 1 2 zz 5 0 35 23 25 zm F 1 y J'.i

. 2/ y /& /7 8 A9 /5 I m, M H} X /Z) o l i AQ WITNESSES: l INVENTOR Jim1% M Lawrencefi L u/m Fez/Z am ATTORNEY Jan. 23, 1962 L, B, LYNN3,017,778

CONTROL DEVICES Filed March 8, 1946 3 Sheets-Sheet 2 wmwzssrzs; INVENTORfi W W Lawrence 19. Lyn.

ATTORNEY Jan. 23, 1962 L. B. LYNN 3,017,778

CONTROL DEVICES Filed March 8, 1946 S Sheets-Sheet 3 WITNESSES:

INVENTOR 1a Wrence 1?. Zy/wz ATTORNEY linited states atent Free3,017,778 CONTROL DEVMZES Lawrence B. Lynn, Pittsburgh, Pa, assignor toWestinghouse Electric Corporation, East Pittsburgh, Pin, a corporationof Pennsylvania Filed Mar. 8, 1946, der. No. 653,186 7 Claims. (Cl.745.1l2}

This invention relates generally to starting devices and and moreparticularly to such devices which are utilized to start directionalcontrol devices used in controlling conveyances operable in a fluidmedium, for example, torpedoes.

In the operation of torpedoes it has been found satisfactory to employgyroscopes of the free spinning type, that is, gyroscopes which arebrought up to a relatively high speed prior to the time of launching ofthe torpedoand then permitted to spin free for the duration of thetorpedos run. Such a run is of sufficiently short duration both for testor exercise and war shot purposes that the gyroscope does not decelerateto a point where it no longer functions effectively as a directionalcontrol device.

The starting requirements for a gyroscope of the type generallydescribed are rather severe. With modern electrically operatedtorpedoes, the practice is to insert the torpedo into the torpedo orlaunching tube and then apply the air pressure source to the tube toeject the torpedo therefrom. Usually about one-half of a second isrequired for the torpedo to move from the launching tube. During thisinterval such preliminary operations as bringing the directional controlgyroscope up to speed must be accomplished. Otherwise the torpedo willbe inadequately controlled after launching.

Numerous devices for starting torpedo gyroscopes have been consideredand experimented with. One form, which proved successful and could becheaply manufactured, involved a small electric motor energized by thetorpedos trigger switch the instant torpedo movement from the tubebegan. These motors were designed for short life, since their usefulpurpose was fulfilled in a matter of less than one-half of a secondafter operation began. In this brief interval the motor accelerated atwopound, 3 /2-inch diameter gyro Wheel to a speed of about 12,000 rpm.

There are applications, for example, those involving a primary batteryas the main source of energy of a torpedo wherein it is not alwaysconvenient to provide suflicient secondary battery energy to drive thegyroscope motor prior to launching. The use of compressed air andsuitable mechanical coupling oifers a solution to the problem but hasthe attendant disadvantage of the space required for an air reservoirtogether with other equipment for controlling the air supply. Ratherthan this, the use of a cartridge as the energy source for starting thegyroscope appears to offer the more sensible solution.

One object of this invention is to provide a control arrangement for aconveyance operable in a fluid medium involving a load unit forperforming a useful function in the control of said conveyance and whichload unit must be accelerated from zero speed to full speed in therelatively short period of time required to launch said conveyance, inwhich means are provided for accelerating said load unit to full speedwithin the relatively short period of time required for launching ofsaid conveyance.

Another object of this invention is to provide a system for starting agyroscope utilized as a control element in a conveyance operable in afluid medium in which a source of energy is utilized requiring only asmall amount of electric power for initiating release of the energy.

More specifically, it is an object of this invention to provide a systemfor starting a gyroscope on a torpedo which utilizes a cartridge as thesource of energy supply for the system.

Still more specifically stated, it is an object of this invention toprovide a system for starting a gyroscope on a torpedo which utilizes anelectrically detonated cartridge as the source of energy supply for thesystem.

Yet another object of this invention is to provide a gyroscope mechanismor starting system of the character referred to in which the gyroscopeis caged during acceleration thereof to full speed and thereafteruncaged to provide proper control of the torpedo by the gyroscope.

The foregoing statements are merely illustrative of the various aims ofthis invention. Other objects and advantages will become apparent from astudy of the following disclosure when considered in conjunction withthe accompanying drawings, in which:

FIGURE 1 is a schematic diagram of the gyroscope mechanism installed ina torpedo.

FIG. 2 is a schematic diagram of the gyroscope direc tional control fora torpedo.

FIG. 3 is an enlarged schematic showing of the gyroscope mechanism ofFIG, 1 illustrating additional details of the arrangement.

FIG. 4 is a modification of the invention illustrated in FIG. 3.

PEG. 5 is a further modification of the invention, and

FIG. 6 is an end view partly in section of the embodiment of theinvention illustrated in FIG. 5.

Referring now to FIG. 3 the assembly therein illustrated includesgenerally a gyroscope l, a declutching mechanism 2 and a startingmechanism 3. Gyroscope 1 is conventional in arrangement. Numeral 4designates the gyro wheel which is suitably mounted in bearings ingimbal ring 5, in turn mounted in bearings in gimbal ring a which in itsturn is pivotally mounted in stationary brackets 7 conventionallysecured to the torpedo frame structure. The torque axis of the gyroscopeis designated xx, the precession axis appears as a point and isdesignated y while the spin axis is designated z-z. As illustrated inFIG. 1 the gyroscope is mounted so that the axis of spin zz is parallelwith the longitudinal axis of the torpedo. Prior to use of the torpedoin either test or exercise run, or in war shot, the gyroscope is cagedin the position described by latches 8, each having extensions 9 and 10,respectively, engaging gimbal rings 5 and 6 to lock the gyroscope in thedescribed predetermined relationship with the torpedo axis. Latches 8are mounted on pivot members 11 and are pivotally joined by a link 12 atpoints on opposite sides of the respective pivot members ill, thearrangement effecting opposite angular movement of the latches topositions disengaging the gimbal rings 5 and 6 under the influence ofcompression springs 13. Latches 8 are retained in the gyroscope cagingposition illustrated by means of the trigger mechanism 15 consisting ofa bell crank 16 mounted on pivot member 17 and link 18 pivotallyattached to the extremity of bell crank 16 directed towards the latchmechanism. Link 18 together with the bell crank forms a toggle mechanismwhich as shown is in locked position with the free extremity of link 18abutting the cooperating latch 8 and holding the latch mechanism incaging position.

The right-hand end, as viewed, of the gyro wheel shaft extends throughgimbal ring 5 and has secured thereto an element of a jaw clutchassembly 20. The other element of jaw clutch 29 is carried by a shaft 21journalled for rotational and axial movement in the housing 22 forming apart of the declutching mechanism 2. The remaining extremity of bellcrank 16 is loosely keyed in a groove 19 formed in the jaw clutchelement connected to shaft 21. That portion of shaft 21 within housing22 is threaded and has threaded thereover a nut 23 keyed at 24 to thehousing 22 to prevent rotation thereof. Shaft 21 is biased to clutchengaging position by spring 25.

In this embodiment of the present invention, the starting mechanism 3includes a block 27 having a cylinder 28 of suitable length formedtherein and terminating at its upper end as viewed in a cartridgechamber 29 containing a cartridge 30 and sealed by the breach 31. Leads32 are connected with the caps (not shown) within the cartridge 31 fordetonating the cartridge. A piston 33 which strokes in cylinder 28 hassecured thereto a rack 34 meshing with a pinion 35 secured to shaft 21adjacent the coupling 20, completing the driving connection for the gyrowheel 4.

As schematically illustrated in FIG. 1, the gyroscope assembly is housedentirely within the torpedo body 36. Leads or conductors 32 areconnected in a series circuit with a battery 37 and switch contacts 38of trigger switch 39. When prepared for firing the torpedo is placedwithin the launching tube fragmentarily shown at 40 and dog 41 isprojected into the tube 40 just ahead of trigger 42 of trigger switch39. When the air pressure is applied to the launching tube the torpedois accelerated to the left as viewed, dog 41 rotating trigger 42clockwise and the camming action thereof closing contacts 38. As aconsequence battery energy is applied to the caps of the cartridge 30and detonation thereof follows. The products of combustion of cartridge30 exhausting into cylinder 28 drive piston 33 and rack 34 downwardly,as viewed, rotating pinion 35 and through the jaw clutch 20, the gyrowheel 4. In view of the high driving forces which may be obtained thegyro wheel 4 is rapidly brought up to speed. Meanwhile, due torotational movements of shaft 21, nut 23 is travelling along the housing22 towards the left-hand end thereof. Prior to the time movement of rack34 ceases, nut 23 will have reached the limit of its movement at theleft of housing 22. As a consequence of continued rotation of shaft 21with nut 23 restrained from further axial movement, shaft 21 is drivento the right against the bias of spring 25, disengaging the clutch 20and permitting gyro wheel 4 to spin free. Simultaneously therewith bellcrank 16 is rotated clockwise causing the toggle connection includinglink 18 to be broken and permitting latches 8 under the influence ofcompression springs 13 to be biased clear of the gimbal rings and 6. Thegyro is now an effective control element properly oriented or indexedwith respect to the torpedo axis and operating at proper speed. Shortlythereafter the torpedo is ejected from the launching tube into thewater.

As illustrated in FIG. 2 an arm projects at right angles from the shaft46 containing the xx or torque axis of the gyroscope. The extremity ofthe arm carries a roller which sweeps the adjustable arcuate segment 47supported in the torpedo body. The upper half of this segment is ofelectrical conducting material while the lower half is non-conducting.Coil of relay CR is connected in a series loop with the contact arm,conducting segment and a battery Bl. Arcuate segment 47 is adjustedprior to launching of the torpedo to cause the torpedo to circle fromthe launching path to the true heading. Rudder R is controlled by theport and starboard solenoids PS and SS, respectively. The coils ofsolenoids PS and SS are respectively connected with the battery B2through the front and back contacts of the contact assembly CR1.

Assuming that the arcuate segment 47 is set with the joint between theconducting and non-conducting portions substantially at the roller onthe contact arm, any movement of the torpedo about a vertical axis willangularly displace the arcuate segment with respect to the contact arm,first engaging the roller with the conducting portion and then thenon-conducting portion alternately picking up and dropping out thecontrol relay CR. This alternately energizes the circuits for the portand starboard solenoids first applying right rudder and then leftrudder. The resulting control is hardover-to-hardover and the path ofthe torpedo is approximately sinusoidal in a horizontal plane about aprojection of the torpedo axis at launching.

In the embodiment of the invention illustrated in FIG. 4 a slightlydilferent principle is utilized to start the gyro wheel 4. The gyroscopeassembly including the clutch 20, the latching mechanism and triggermechanism 15 is essentially a duplicate of that illustrated in FIG. 3.Hence, detailed discussion thereof is deemed unnecessary. Shaft 21a isnow provided with a helix having sufiicient pitch that its action withpiston 33a is not selflocking. In this application, piston 33a isslidably keyed to the cylinder 28 to prevent rotation. Otherwise theassembly of block 27 forming the communicating cylinder and cartridgechamber is the same as that of FIG. 1.

Upon detonation of cartridge 30, piston 33a is driven axially in thecylinder and drives shaft 21a in rotation, which rotative movement istransmitted through jaw clutch 20 to the gyro wheel 4 causingacceleration thereof to its normal high full speed. When the pistonreaches the end of the cylinder axial movement thereof ceases.Immediately the gyro wheel 4 overdrives the clutch 20 tending to forcethe clutch elements apart, which coupled with the inertia of the shaft21a in rotation completely clears the clutch elements permitting thegyroscope to spin free. Simultaneously therewith the toggle linkage,including link 18 of the trigger assembly, is broken and the latches 8are biased clear of the gimbal rings 5 and 6 as previously described inconnection with FIG. 3.

In FIGS. 5 and 6 the turbine principle is employed to start the gyrowheel 4a. In this embodiment of the invention, the gyroscope, latchingmechanism, trigger mechanism and declutching mechanism 2 are essentiallythe same as that illustrated in FIG. 3. Like parts bear like referencenumerals. The gyro wheel, however, has been modified and is now providedwith a plurality of turbine buckets or blades 52 about the peripherythereof. A nozzle 49 having, a cartridge chamber 29 containing thecartridge 30 and sealed by the breech 31 is directed into the turbineblades. The products of combustion of the cartridge expand into thechamber 50 and are exhausted through the restricted section 51 throughopening 51 to impinge upon the turbine blades 52, the arrangementconverting the pressure head in chamber 50 to a velocity head which isapplied to the turbine, in the manner well known in the art. Extremelyhigh rates of acceleration may be realized by the direct application ofthe gas jet to the turbine wheel, since in such application there is nopossibility of shearing gear teeth, splined connections or shafts as inFIGS. 3 and 4. The trigger and latch mechanisms again perform theiruseful function in response to axial movement of shaft 21 of thedeclutching mechanism 2 as in FIG. 3 and will be understood inconnection therewith.

While the cartridges of the starting mechanism have been illustrated asignited by a battery, it is, of course, apparent that other sources,such as permanent magnet generators actuated by the trigger switch maybe employed as disclosed in the copending application of L. D. Jenningsand J. Nayrnik, Serial No. 653,193, filed on the same date as thisapplication, entitled Induction Generator Starting Gear and assigned tothe same assignee as this invention, and which has now matured as U.S.Patent 2,445,435, dated July 20, 1948. It will also be apparent that thedevice of this invention is not necessarily limited specifically totorpedoes butmay be employed equally well in other applications withoutdeparting from the spirit and scope hereof. It is, therefore, intendedthat the foregoing disclosure and illustrations in the drawings shall beconsidered only as illustrative and not interpreted in a limiting sense.The only limitations are to be determined from the scope of the appendedclaims.

I claim as my invention:

1. Caging mechanism for a gyroscope mounted in a pair of gimbals so asto have freedom of movement about a torque axis and a precession axiscomprising, in combination, latch mechanism operable to positionsengaging and disengaging both of said gimbals for releasably lockingboth of the gyro gimbals to prevent movement thereof, spring meansbiasing said latch mechanism to a position disengaging said gyrogimbals, trigger means normally engaging said latch mechanism andholding said latch mechanism in a position engaging said gyro gimbals,and means responsive to a predetermined number of revolutions of saidgyroscope for actuating said trigger means to release said latchmechanism and provide free dom of movement of the gyroscope about thetorque and precession axes thereof.

2. Caging mechanism for a gyroscope Wheel mounted in gimbals so as tohave freedom of movement about a torque axis, a precession axis and aspin axis comprising, in combination, a rotatable shaft constructed andarranged in bearings to have limited axial movement, a releasable clutchconnecting said shaft and said gyroscope wheel for effecting rotation ofsaid shaft by rotation of said gyroscope, means biasing said shaft toengage said clutch and connect said shaft and gyroscope wheel,releasable latch mechanism for locking the gimbals of said gyroscope toprevent movement thereof, means responsive to a predetermined number ofrevolutions of said shaft for moving said shaft axially against thebiasing means therefor to effect release of said clutch, and meansresponsive to axial movement of said shaft for releasing said latchmechanism and permitting freedom of movement of said gyroscope about theaxes of freedom thereof.

3. A gyroscope assembly including a vertical gimbal ring, bearing meanspivotally mounting said vertical gimbal ring for motion about a verticalaxis, a horizontal gimbal ring pivotally mounted on said vertical gimbalring for motion about a horizontal axis, a gyroscope rotor mounted onsaid horizontal gimbal ring for rotation about an axis normal to saidhorizontal axis, a rotatable shaft, coupling means for connecting anddisconnecting said shaft and the gyroscope rotor, latching meansincluding a pair of latch members disposed on opposite sides of saidvertical gimbal ring, each of said latch members having projectingportions engaging said vertical gimbal ring on opposite sides of thevertical pivot axis thereof to prevent, rotation thereof and havingother projecting portions engaging said horizontal gimbal ring onopposite sides of the horizontal pivot axis therefor to prevent rotationthereof, means movably mounting each of said pair of latch members formotion away from the position in which each engages said gimbal rings,biasing means for biasing said latch members away from the gimbal ringengaging positions thereof, a trigger mechanism for holding said latchmembers in gimbal ring engaging position and operable in response tomovement of said coupling means disengaging said shaft and said rotor torelease said latch members and permit movement of the gyroscope assemblyabout said horizontal and vertical axes, and means for moving saidcoup-ling means to disengage said shaft and said gyroscope rotor inresponse to a predetermined number of revolutions of said shaft.

4-. Gyroscope mechanism comprising, in combination a first gimbalmember, bearing means mounting said first gimbal member forming a pivotaxis for the first gimbal member, a second gimbal member, bearing meansmounting the second gimbal member for pivotal movement on the firstgimbal member about an axis normal to the pivot axis of the first gimbalmember, a gyroscope wheel, bearing means mounting the gyroscope wheel onsaid second gimbal member for rotation about an axis normal to the pivotaxis of said second gimbal member, a pair of latch members, meanspivotally mounting said latch members on opposite sides of said firstgimbal member, each of said latch members having portions thereofengageable with both of said gimbal members to prevent pivotal movementof said gimbal members about the pivot axes thereof, means for biasingsaid latch members about the pivot mountings thereof away from saidgimbal members to effect disengagement of said portions of said latchmembers and said gimbal members, a bar connecting said latch members onopposite sides of the pivot mountings therefor to effect simultaneousopposite pivotal motion of said latch members, a trigger mechanismnormally engaging one of said latch members and holding said latchmembers in a position engaging both of said gimbal members, and meansresponsive to a predetermined number of revolutions of said gyroscopewheel for actuating said trigger mechanism to disengage said one latchmember.

5. Gyroscope mechanism comprising, in combination a first gimbal member,bearing means mounting said first gimbal member forming a pivot axis forthe first gimbal member, a second gimbal member, bearing means mountingthe second gimbal member for pivotal movement on the first gimbal memberabout an axis normal to the pivot axis of the first gimbal member, agyroscope wheel, hearing means mounting the gyroscope Wheel on saidsecond gimbal member for rotation about an axis normal to the pivot axisof said second gimbal member, a pair of latch members, means pivotallymounting said latch members on opposite sides of said first gimbalmember, each of said latch members having portions thereof engageablewith both of said gimbal members to prevent pivotal movement of saidgimbal members about the pivot axes thereof, means for biasing saidlatch members about the pivot mountings thereof away from said gimbalmembers to effect disengagement of said portions of said latch membersand said gimbal members, a bar connecting said latch members on oppositesides of the pivot mountings therefor to effect simultaneous oppositepivotal motion of said latch members, a trigger mechanism normallyengaging one of said latch members and holding said latch members in aposition engaging both of said gimbal members, rotatable clutchactuating means, a clutch engaging said clutch actuating means and saidgyroscope wheel and being operable to a disengaged position by saidclutch actuating means, means responsive to a predetermined number ofrevolutions of said clutch actuating means for disengaging said clutch,and means responsive to disengaging movement of said clutch foractuating said trigger mechanism to disengage said one latch member.

6. Gyroscope mechanism comprising, in combination a first gimbal member,bearing means mounting said first gimbal member forming a pivot axis forthe first gimbal member, a second gimbal member, bearing means mountingthe second gimbal member for pivotal movement on the first gimbal memberabout an axis normal to the pivot axis of the first gimbal member, agyroscope wheel, hearing means mounting the gyroscope wheel on saidsecond gimbal member for rotation about an axis normal to the pivot axisof said second gimbal member, a pair of latch members, means pivotallymounting said latch members on opposite sides of said first gimbalmember, each of said latch members having portions thereof engageablewith both of said gimbal members to prevent pivotal movement of saidgimbal members about the pivot axes thereof, means for biasing saidlatch members about the pivot mountings thereof away from said gimbalmembers to effect disengagement of said portions of said latch membersand said gimbal members, a bar connecting said latch members on oppositesides of the pivot mountings therefor to effect simultaneous oppositepivotal motion of said latch members, a trigger mechanism normallyengaging one of said latch members and holding said latch members in aposition engaging both of said gimbal members, and means responsive torotative movement of said gyroscope wheel for actuating said triggermechanism to release said one latch member.

7. Gyroscope mechanism comprising, in combination a first gimbal member,bearing means mounting said first gimbal member forming a pivot axis forthe first gimbal member, a second gimbal member, bearing means mount- 4ing the second gimbal member for pivotal movement on the first gimbalmember about an axis normal to the pivot axis of the first gimbalmember, a gyroscope wheel, bearing means mounting the gyroscope wheel onsaid second gimbal member for rotation about an axis normal to the pivotaxis of said second gimbal member, a pair of latch members, meanspivotally mounting said latch members on opposite sides of said firstgimbal member, each of said latch members having portions thereofengageable with both of said gimbal members to prevent pivotal movementof said gimbal members about the pivot axes thereof, means for biasingsaid latch members about the pivot mountings thereof away from saidgimbal members to effect disengagement of said portions of said latchmembers and said gimbal members, a bar conmeeting said latch members onopposite sides of the pivot mountings therefor to effect simultaneousopposite pivotal motion of said latch members, a trigger mechanismnormally engaging one of said latch members and holding said latchmembers in a position engaging both of said gimbal members, a threadedshaft, means rotatably mounting said shaft coaxially of the axis ofrotation of said gyroscope wheel when said gimbal members are engaged bysaid latch members, said mounting of said threaded shaft also affordingaxial movement of said threaded shaft, a clutch connecting said threadedshaft and said gyroscope wheel and being disengaged by axial motion ofsaid threaded shaft away from said gyroscope wheel, means biasing saidthreaded shaft in a direction to engage said clutch, a nut arranged onsaid threaded shaft, means for preventing rotation of said nut, meansfor limiting the axial movement of said nut upon rotation of saidthreaded shaft by said gyroscope wheel to a distance less than thethreaded length of said shaft, to affect axial movement of said shaftwhen said shaft rotates after axial motion of said nut ceases therebydisengaging said clutch, and means responsive to axial movement of saidshaft for actuating said trigger mechanism to disengage said one latchmember.

References Cited in the file of this patent UNITED STATES PATENTS607,440 Kaselowsky July 19, 1898 1,185,210 Leavitt May 30, 19161,421,854 Sperry July 4, 1922 1,884,479 Woolson Oct. 25, 1932 2,090,342Callsen Aug. 17, 1937 FOREIGN PATENTS 19,588 Great Britain -a June 13,1912

